<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Icarous: /home/research133/Software/Icarous2/cFS/apps/trajectory/fsw/src/trajectory.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Icarous
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li><a href="modules.html"><span>Modules</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>File&#160;List</span></a></li>
      <li><a href="globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_c1698e121239b1aba7f6e782e4514e49.html">cFS</a></li><li class="navelem"><a class="el" href="dir_7ee4ce95da95d11e80a01c5101ed8d14.html">apps</a></li><li class="navelem"><a class="el" href="dir_76cb093c8e10378be9880aae17a4353d.html">trajectory</a></li><li class="navelem"><a class="el" href="dir_fd55c9a3ea3c81d7c769f1091c6294af.html">fsw</a></li><li class="navelem"><a class="el" href="dir_80d54cf5dfe4f3fdaf849efa13dac611.html">src</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">trajectory.h</div>  </div>
</div><!--header-->
<div class="contents">
<a href="trajectory_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef ICAROUS_CFS_TRAJECTORY_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define ICAROUS_CFS_TRAJECTORY_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;cfe.h&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;cfe_error.h&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;cfe_evs.h&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;cfe_sb.h&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;cfe_es.h&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;TrajectoryPlanner_proxy.h&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msgids_8h.html">ardupilot_msgids.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="scheduler__msgids_8h.html">scheduler_msgids.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="trajectory__msgids_8h.html">trajectory_msgids.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ardupilot__msg_8h.html">ardupilot_msg.h</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="trajectory__msg_8h.html">trajectory_msg.h</a>&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="trajectory__tbl_8h.html">trajectory_tbl.h</a>&quot;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define TRAJECTORY_STARTUP_INF_EID 0</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#define TRAJECTORY_COMMAND_ERR_EID 1</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#define TRAJECTORY_RECEIVED_INTRUDER_EID 2</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#define TRAJECTORY_RECEIVED_FLIGHTPLAN_EID 3</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#define TRAJECTORY_RECEIVED_GEOFENCE_EID 4</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#define TRAJECTORY_PIPE_DEPTH 100</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#define TRAJECTORY_PIPE_NAME &quot;TRAJECTORY_PIPE&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define TRAJECTORY_SCH_PIPE_NAME &quot;TRAJ_SCH_PIPE&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define TRAJECTORY_SCH_PIPE_DEPTH 100</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#define TRAJECTORY_MAJOR_VERSION 1</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#define TRAJECTORY_MINOR_VERSION 0</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#define TRAJ_MONITOR_TASK_ID 23</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define TRAJ_MONITOR_TASK_STACK_SIZE 1024</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define TRAJ_MONITOR_PRIORITY 65</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;uint32 traj_monitor_stack[TRAJ_MONITOR_TASK_STACK_SIZE];</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;uint32 traj_monitor_task_id;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html">   68</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span>{</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a0668df8e9f97b1b0eb3b1afa601c21c0">   69</a></span>&#160;    CFE_SB_PipeId_t    <a class="code" href="structTrajectoryAppData__t.html#a0668df8e9f97b1b0eb3b1afa601c21c0">TrajRequest_Pipe</a>;       </div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a8f6b2d6420c46144174f39511cd4522e">   70</a></span>&#160;    CFE_SB_PipeId_t    <a class="code" href="structTrajectoryAppData__t.html#a8f6b2d6420c46144174f39511cd4522e">TrajData_Pipe</a>;          </div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#af26b16f48d663ad3b948208b350623f6">   71</a></span>&#160;    CFE_SB_MsgPtr_t    <a class="code" href="structTrajectoryAppData__t.html#af26b16f48d663ad3b948208b350623f6">TrajRequest_MsgPtr</a>;     </div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a8f13dce158694547f1132c3259cb91f6">   72</a></span>&#160;    CFE_SB_MsgPtr_t    <a class="code" href="structTrajectoryAppData__t.html#a8f13dce158694547f1132c3259cb91f6">Traj_MsgPtr</a>;            </div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#adbbdc4ae934db9539e29e6dca6965056">   73</a></span>&#160;    CFE_TBL_Handle_t   <a class="code" href="structTrajectoryAppData__t.html#adbbdc4ae934db9539e29e6dca6965056">Trajectory_TblHandle</a>;   </div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a0d9817e92488896a04006ce38cc3e24b">   74</a></span>&#160;    PathPlanner* <a class="code" href="structTrajectoryAppData__t.html#a0d9817e92488896a04006ce38cc3e24b">pplanner</a>;                     </div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a1cf679c4db5cb55324c01d9b015fbd88">   75</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structTrajectoryAppData__t.html#a1cf679c4db5cb55324c01d9b015fbd88">numPlansComputed</a>;                      </div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a2e51ba7291984395823114cef2268166">   76</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structTrajectoryAppData__t.html#a2e51ba7291984395823114cef2268166">runThreads</a>;                            </div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a4e2aa6007d309e38dfef17e2f167e283">   77</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="ardupilot_8h.html#a97f6f07d9b99c3e3d789183a9064a7da">position</a>[3];                        </div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#aa339d2f553217e4b788c83ec25fbd2de">   78</a></span>&#160;    <span class="keywordtype">double</span> velocity[3];                        </div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a84c7908c0284fcea5ebef5805d7cef24">   79</a></span>&#160;    uint32_t <a class="code" href="structTrajectoryAppData__t.html#a84c7908c0284fcea5ebef5805d7cef24">mutexAcState</a>;                     </div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#ae397d9a6dbbd349656f8a89fd6a65ff9">   80</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structTrajectoryAppData__t.html#ae397d9a6dbbd349656f8a89fd6a65ff9">nextWP</a>;                                </div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a7be94e4ab8d0810f89be6e72450c3592">   82</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structTrajectoryAppData__t.html#a7be94e4ab8d0810f89be6e72450c3592">monitor</a>;                              </div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#ae75f34d0f616070dde58eee424285597">   83</a></span>&#160;    <a class="code" href="structflightplan__t.html">flightplan_t</a> <a class="code" href="structTrajectoryAppData__t.html#ae75f34d0f616070dde58eee424285597">mission</a>;                      </div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#ae69c757f6299ec5265925685f7fade7d">   84</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryAppData__t.html#ae69c757f6299ec5265925685f7fade7d">xtrkDev</a>;                            </div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a5a52af5ab66fb676f310d9b5a1721043">   85</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryAppData__t.html#a5a52af5ab66fb676f310d9b5a1721043">xtrkGain</a>;                           </div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a6045bfea101fc8cd567bbdd58bf497d0">   86</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryAppData__t.html#a6045bfea101fc8cd567bbdd58bf497d0">resSpeed</a>;                           </div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#a0deede4e96cc16c1aff60256dc4dd7c9">   87</a></span>&#160;    <a class="code" href="group__TRAJECTORY__MESSAGES.html#ga91a137242da7f276e5a2bfb0e4685e47">algorithm_e</a> <a class="code" href="structTrajectoryAppData__t.html#a0deede4e96cc16c1aff60256dc4dd7c9">searchType</a>;                    </div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structTrajectoryAppData__t.html#aa34bb581a17064353ecee75baa5440c1">   89</a></span>&#160;    <a class="code" href="structflightplan__monitor__t.html">flightplan_monitor_t</a> <a class="code" href="structTrajectoryAppData__t.html#aa34bb581a17064353ecee75baa5440c1">fpMonitor</a>;            </div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}<a class="code" href="structTrajectoryAppData__t.html">TrajectoryAppData_t</a>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keywordtype">void</span> <a class="code" href="trajectory_8h.html#adaba662c1aaa621741ecb4fd035c628f">TRAJECTORY_AppMain</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keywordtype">void</span> <a class="code" href="trajectory_8h.html#a75a446a475c965536040fbc79d0d76ad">TRAJECTORY_AppInit</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keywordtype">void</span> <a class="code" href="trajectory_8h.html#a7d57218a72fa7d586d2db5bcaf1d9ea1">TRAJECTORY_AppCleanUp</a>();</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keywordtype">void</span> <a class="code" href="trajectory_8h.html#ae38e7752383e8dc704e1c694f6b2f478">TRAJECTORY_ProcessPacket</a>();</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keywordtype">void</span> <a class="code" href="trajectory_8h.html#a1640130e551a840c86a07d2ea2dcea75">TRAJECTORY_Monitor</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;int32_t <a class="code" href="trajectory_8h.html#a29d6d3a5a8db1f0b53b33039d060aeb6">TrajectoryTableValidationFunc</a>(<span class="keywordtype">void</span> *TblPtr);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<a class="code" href="structTrajectoryAppData__t.html">TrajectoryAppData_t</a> TrajectoryAppData;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="preprocessor">#endif //ICAROUS_CFS_TRAJECTORY_H</span></div><div class="ttc" id="structTrajectoryAppData__t_html_a84c7908c0284fcea5ebef5805d7cef24"><div class="ttname"><a href="structTrajectoryAppData__t.html#a84c7908c0284fcea5ebef5805d7cef24">TrajectoryAppData_t::mutexAcState</a></div><div class="ttdeci">uint32_t mutexAcState</div><div class="ttdoc">Mutex to enforce synchronization on shared variables. </div><div class="ttdef"><b>Definition:</b> trajectory.h:79</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_ae397d9a6dbbd349656f8a89fd6a65ff9"><div class="ttname"><a href="structTrajectoryAppData__t.html#ae397d9a6dbbd349656f8a89fd6a65ff9">TrajectoryAppData_t::nextWP</a></div><div class="ttdeci">int nextWP</div><div class="ttdoc">Next waypoint index. </div><div class="ttdef"><b>Definition:</b> trajectory.h:80</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a8f13dce158694547f1132c3259cb91f6"><div class="ttname"><a href="structTrajectoryAppData__t.html#a8f13dce158694547f1132c3259cb91f6">TrajectoryAppData_t::Traj_MsgPtr</a></div><div class="ttdeci">CFE_SB_MsgPtr_t Traj_MsgPtr</div><div class="ttdoc">Scheduler message. </div><div class="ttdef"><b>Definition:</b> trajectory.h:72</div></div>
<div class="ttc" id="group__TRAJECTORY__MESSAGES_html_ga91a137242da7f276e5a2bfb0e4685e47"><div class="ttname"><a href="group__TRAJECTORY__MESSAGES.html#ga91a137242da7f276e5a2bfb0e4685e47">algorithm_e</a></div><div class="ttdeci">algorithm_e</div><div class="ttdoc">search algorithm type </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:22</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_adbbdc4ae934db9539e29e6dca6965056"><div class="ttname"><a href="structTrajectoryAppData__t.html#adbbdc4ae934db9539e29e6dca6965056">TrajectoryAppData_t::Trajectory_TblHandle</a></div><div class="ttdeci">CFE_TBL_Handle_t Trajectory_TblHandle</div><div class="ttdoc">Table pointer. </div><div class="ttdef"><b>Definition:</b> trajectory.h:73</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_af26b16f48d663ad3b948208b350623f6"><div class="ttname"><a href="structTrajectoryAppData__t.html#af26b16f48d663ad3b948208b350623f6">TrajectoryAppData_t::TrajRequest_MsgPtr</a></div><div class="ttdeci">CFE_SB_MsgPtr_t TrajRequest_MsgPtr</div><div class="ttdoc">Msg pointer to SB message. </div><div class="ttdef"><b>Definition:</b> trajectory.h:71</div></div>
<div class="ttc" id="ardupilot__msg_8h_html"><div class="ttname"><a href="ardupilot__msg_8h.html">ardupilot_msg.h</a></div><div class="ttdoc">Ardupilot message definitions. </div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_aa34bb581a17064353ecee75baa5440c1"><div class="ttname"><a href="structTrajectoryAppData__t.html#aa34bb581a17064353ecee75baa5440c1">TrajectoryAppData_t::fpMonitor</a></div><div class="ttdeci">flightplan_monitor_t fpMonitor</div><div class="ttdoc">flight plan monitor </div><div class="ttdef"><b>Definition:</b> trajectory.h:89</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a0d9817e92488896a04006ce38cc3e24b"><div class="ttname"><a href="structTrajectoryAppData__t.html#a0d9817e92488896a04006ce38cc3e24b">TrajectoryAppData_t::pplanner</a></div><div class="ttdeci">PathPlanner * pplanner</div><div class="ttdoc">Opaque pointer to TrajectoryMonitor. </div><div class="ttdef"><b>Definition:</b> trajectory.h:74</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html"><div class="ttname"><a href="structTrajectoryAppData__t.html">TrajectoryAppData_t</a></div><div class="ttdoc">Structure to hold app data. </div><div class="ttdef"><b>Definition:</b> trajectory.h:68</div></div>
<div class="ttc" id="structflightplan__monitor__t_html"><div class="ttname"><a href="structflightplan__monitor__t.html">flightplan_monitor_t</a></div><div class="ttdoc">Information regarding the mission flight plan. </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:45</div></div>
<div class="ttc" id="trajectory_8h_html_a29d6d3a5a8db1f0b53b33039d060aeb6"><div class="ttname"><a href="trajectory_8h.html#a29d6d3a5a8db1f0b53b33039d060aeb6">TrajectoryTableValidationFunc</a></div><div class="ttdeci">int32_t TrajectoryTableValidationFunc(void *TblPtr)</div><div class="ttdef"><b>Definition:</b> trajectory.c:436</div></div>
<div class="ttc" id="trajectory_8h_html_a75a446a475c965536040fbc79d0d76ad"><div class="ttname"><a href="trajectory_8h.html#a75a446a475c965536040fbc79d0d76ad">TRAJECTORY_AppInit</a></div><div class="ttdeci">void TRAJECTORY_AppInit(void)</div><div class="ttdef"><b>Definition:</b> trajectory.c:52</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a2e51ba7291984395823114cef2268166"><div class="ttname"><a href="structTrajectoryAppData__t.html#a2e51ba7291984395823114cef2268166">TrajectoryAppData_t::runThreads</a></div><div class="ttdeci">int runThreads</div><div class="ttdoc">Flag to signals to run/stop. </div><div class="ttdef"><b>Definition:</b> trajectory.h:76</div></div>
<div class="ttc" id="ardupilot_8h_html_a97f6f07d9b99c3e3d789183a9064a7da"><div class="ttname"><a href="ardupilot_8h.html#a97f6f07d9b99c3e3d789183a9064a7da">position</a></div><div class="ttdeci">EXTERN position_t position</div><div class="ttdoc">position message </div><div class="ttdef"><b>Definition:</b> ardupilot.h:165</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a5a52af5ab66fb676f310d9b5a1721043"><div class="ttname"><a href="structTrajectoryAppData__t.html#a5a52af5ab66fb676f310d9b5a1721043">TrajectoryAppData_t::xtrkGain</a></div><div class="ttdeci">double xtrkGain</div><div class="ttdoc">xtrk gain </div><div class="ttdef"><b>Definition:</b> trajectory.h:85</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_ae75f34d0f616070dde58eee424285597"><div class="ttname"><a href="structTrajectoryAppData__t.html#ae75f34d0f616070dde58eee424285597">TrajectoryAppData_t::mission</a></div><div class="ttdeci">flightplan_t mission</div><div class="ttdoc">flightplan to monitor </div><div class="ttdef"><b>Definition:</b> trajectory.h:83</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_ae69c757f6299ec5265925685f7fade7d"><div class="ttname"><a href="structTrajectoryAppData__t.html#ae69c757f6299ec5265925685f7fade7d">TrajectoryAppData_t::xtrkDev</a></div><div class="ttdeci">double xtrkDev</div><div class="ttdoc">xtrk deviation allowed </div><div class="ttdef"><b>Definition:</b> trajectory.h:84</div></div>
<div class="ttc" id="trajectory_8h_html_adaba662c1aaa621741ecb4fd035c628f"><div class="ttname"><a href="trajectory_8h.html#adaba662c1aaa621741ecb4fd035c628f">TRAJECTORY_AppMain</a></div><div class="ttdeci">void TRAJECTORY_AppMain(void)</div><div class="ttdoc">Event ID definitions. </div><div class="ttdef"><b>Definition:</b> trajectory.c:22</div></div>
<div class="ttc" id="scheduler__msgids_8h_html"><div class="ttname"><a href="scheduler__msgids_8h.html">scheduler_msgids.h</a></div><div class="ttdoc">message topics published by the scheduler </div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a7be94e4ab8d0810f89be6e72450c3592"><div class="ttname"><a href="structTrajectoryAppData__t.html#a7be94e4ab8d0810f89be6e72450c3592">TrajectoryAppData_t::monitor</a></div><div class="ttdeci">bool monitor</div><div class="ttdoc">Flag indicating when monitoring should begin. </div><div class="ttdef"><b>Definition:</b> trajectory.h:82</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a0deede4e96cc16c1aff60256dc4dd7c9"><div class="ttname"><a href="structTrajectoryAppData__t.html#a0deede4e96cc16c1aff60256dc4dd7c9">TrajectoryAppData_t::searchType</a></div><div class="ttdeci">algorithm_e searchType</div><div class="ttdoc">preferred search algorithm </div><div class="ttdef"><b>Definition:</b> trajectory.h:87</div></div>
<div class="ttc" id="trajectory__msgids_8h_html"><div class="ttname"><a href="trajectory__msgids_8h.html">trajectory_msgids.h</a></div><div class="ttdoc">definition of message ids relevant to the trajectory applicaiton </div></div>
<div class="ttc" id="trajectory__msg_8h_html"><div class="ttname"><a href="trajectory__msg_8h.html">trajectory_msg.h</a></div><div class="ttdoc">definition of messages generated by the trajectory messages </div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a1cf679c4db5cb55324c01d9b015fbd88"><div class="ttname"><a href="structTrajectoryAppData__t.html#a1cf679c4db5cb55324c01d9b015fbd88">TrajectoryAppData_t::numPlansComputed</a></div><div class="ttdeci">int numPlansComputed</div><div class="ttdoc">Total number of plans computed. </div><div class="ttdef"><b>Definition:</b> trajectory.h:75</div></div>
<div class="ttc" id="trajectory_8h_html_a7d57218a72fa7d586d2db5bcaf1d9ea1"><div class="ttname"><a href="trajectory_8h.html#a7d57218a72fa7d586d2db5bcaf1d9ea1">TRAJECTORY_AppCleanUp</a></div><div class="ttdeci">void TRAJECTORY_AppCleanUp()</div><div class="ttdef"><b>Definition:</b> trajectory.c:140</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a6045bfea101fc8cd567bbdd58bf497d0"><div class="ttname"><a href="structTrajectoryAppData__t.html#a6045bfea101fc8cd567bbdd58bf497d0">TrajectoryAppData_t::resSpeed</a></div><div class="ttdeci">double resSpeed</div><div class="ttdoc">resolution speed </div><div class="ttdef"><b>Definition:</b> trajectory.h:86</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a8f6b2d6420c46144174f39511cd4522e"><div class="ttname"><a href="structTrajectoryAppData__t.html#a8f6b2d6420c46144174f39511cd4522e">TrajectoryAppData_t::TrajData_Pipe</a></div><div class="ttdeci">CFE_SB_PipeId_t TrajData_Pipe</div><div class="ttdoc">Pipe variable. </div><div class="ttdef"><b>Definition:</b> trajectory.h:70</div></div>
<div class="ttc" id="structflightplan__t_html"><div class="ttname"><a href="structflightplan__t.html">flightplan_t</a></div><div class="ttdoc">message encoding flight plan information </div><div class="ttdef"><b>Definition:</b> ardupilot_msg.h:105</div></div>
<div class="ttc" id="trajectory_8h_html_a1640130e551a840c86a07d2ea2dcea75"><div class="ttname"><a href="trajectory_8h.html#a1640130e551a840c86a07d2ea2dcea75">TRAJECTORY_Monitor</a></div><div class="ttdeci">void TRAJECTORY_Monitor(void)</div><div class="ttdef"><b>Definition:</b> trajectory.c:185</div></div>
<div class="ttc" id="structTrajectoryAppData__t_html_a0668df8e9f97b1b0eb3b1afa601c21c0"><div class="ttname"><a href="structTrajectoryAppData__t.html#a0668df8e9f97b1b0eb3b1afa601c21c0">TrajectoryAppData_t::TrajRequest_Pipe</a></div><div class="ttdeci">CFE_SB_PipeId_t TrajRequest_Pipe</div><div class="ttdoc">Pipe variable. </div><div class="ttdef"><b>Definition:</b> trajectory.h:69</div></div>
<div class="ttc" id="ardupilot__msgids_8h_html"><div class="ttname"><a href="ardupilot__msgids_8h.html">ardupilot_msgids.h</a></div><div class="ttdoc">Message ID definition of ardupilot app messages. </div></div>
<div class="ttc" id="trajectory_8h_html_ae38e7752383e8dc704e1c694f6b2f478"><div class="ttname"><a href="trajectory_8h.html#ae38e7752383e8dc704e1c694f6b2f478">TRAJECTORY_ProcessPacket</a></div><div class="ttdeci">void TRAJECTORY_ProcessPacket()</div><div class="ttdef"><b>Definition:</b> trajectory.c:145</div></div>
<div class="ttc" id="trajectory__tbl_8h_html"><div class="ttname"><a href="trajectory__tbl_8h.html">trajectory_tbl.h</a></div><div class="ttdoc">trajectory table definition </div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
</body>
</html>
